Tactile sensor, robot hand, and robot

Abstract

A tactile sensor pertaining to the present disclosure includes a cover that is provided so as to cover at least part of a base portion, a detection unit that is disposed between the cover and the base portion and detects force applied to the cover, and a limiting structure that limits inclination of the cover with respect to the base portion.

The invention claimed is: 
     
       1. A tactile sensor comprising:
 a cover that is provided so as to cover at least part of a base portion; 
 a detection unit comprising a sensor body and a contact, wherein the detection unit is disposed between the cover and the base portion and detects force applied to the cover; and 
 a limiting structure that limits inclination of the cover with respect to the base portion, 
 wherein the detection unit detects a force applied to the cover from relative displacement of the cover with respect to the base portion, and 
 wherein relative displacement of the cover with respect to the base portion is caused by retraction of the contact toward the sensor body. 
 
     
     
       2. The tactile sensor of  claim 1 , wherein:
 the cover has a side face covering portion that is disposed along a base portion side face of the base portion and an end face covering portion that extends from the side face covering portion and is disposed along a base portion end face of the base portion, and 
 the detection unit is disposed between the base portion side face and the side face covering portion and between the base portion end face and the end face covering portion. 
 
     
     
       3. The tactile sensor of  claim 2 , wherein the limiting structure comprises a stopper that limits movement of the cover in a direction toward the base portion. 
     
     
       4. The tactile sensor of  claim 3 , wherein the stopper limits movement of a peripheral edge portion of the cover formed in an arbitrary shape. 
     
     
       5. The tactile sensor of  claim 3 , wherein:
 the stopper includes a side face stopper provided at the base portion side face and an end face stopper provided at the base portion end face, 
 the side face stopper has a sideward face contacting portion that contacts the side face covering portion and limits movement of the side face covering portion in a direction toward the base portion side face and a sideward end contacting portion that contacts an end face of the side face covering portion and limits movement of the end face covering portion in a direction toward the base portion end face, and 
 the end face stopper has an endward face contacting portion that contacts the end face covering portion and limits movement of the end face covering portion in a direction toward the base portion end face and an endward end contacting portion that contacts an end face of the end face covering portion and limits movement of the side face covering portion in a direction toward the base portion side face. 
 
     
     
       6. The tactile sensor of  claim 3 , wherein:
 the stopper includes a first side face stopper provided at the base portion side face, a second side face stopper provided at the side face covering portion, a first end face stopper provided at the base portion end face, and a second end face stopper provided at the end face covering portion, and 
 the second side face stopper and the first end face stopper limit movement of the side face covering portion in a direction toward the base portion side face, and the first side face stopper and the second end face stopper limit movement of the end face covering portion in a direction toward the base portion end face. 
 
     
     
       7. The tactile sensor of  claim 1 , wherein a contact portion that contacts a target place is replaceably attached to the cover. 
     
     
       8. A robot hand comprising:
 the tactile sensor of  claim 1 ; and 
 an opposing member that is disposed opposing the tactile sensor and grips an object between itself and the tactile sensor. 
 
     
     
       9. A robot comprising:
 the robot hand of  claim 8 ; and 
 a robot body that drives the robot hand. 
 
     
     
       10. The tactile sensor of  claim 1 , wherein:
 the cover has a side face covering portion that is disposed along a base portion side face of the base portion and an end face covering portion that extends from the side face covering portion and is disposed along a base portion end face of the base portion, and 
 the detection unit is disposed between the base portion side face and the side face covering portion and between the base portion end face and the end face covering portion. 
 
     
     
       11. The tactile sensor of  claim 4 , wherein:
 the stopper includes a side face stopper provided at the base portion side face and an end face stopper provided at the base portion end face, 
 the side face stopper has a sideward face contacting portion that contacts the side face covering portion and limits movement of the side face covering portion in a direction toward the base portion side face and a sideward end contacting portion that contacts an end face of the side face covering portion and limits movement of the end face covering portion in a direction toward the base portion end face, and 
 the end face stopper has an endward face contacting portion that contacts the end face covering portion and limits movement of the end face covering portion in a direction toward the base portion end face and an endward end contacting portion that contacts an end face of the end face covering portion and limits movement of the side face covering portion in a direction toward the base portion side face. 
 
     
     
       12. The tactile sensor of  claim 4 , wherein:
 the stopper includes a first side face stopper provided at the base portion side face, a second side face stopper provided at the side face covering portion, a first end face stopper provided at the base portion end face, and a second end face stopper provided at the end face covering portion, and 
 the second side face stopper and the first end face stopper limit movement of the side face covering portion in a direction toward the base portion side face, and the first side face stopper and the second end face stopper limit movement of the end face covering portion in a direction toward the base portion end face. 
 
     
     
       13. The tactile sensor of  claim 1 , wherein a contact portion that contacts a target place is replaceably attached to the cover. 
     
     
       14. The tactile sensor of  claim 1 , wherein:
 the detection unit comprises a plurality of detection units disposed between the cover and the base portion. 
 
     
     
       15. The tactile sensor of  claim 2 , wherein:
 the detection unit is disposed to correspond to a central portion of the side face covering portion. 
 
     
     
       16. The tactile sensor of  claim 1 , wherein:
 the detection unit includes a side face detection unit and an end face detection unit. 
 
     
     
       17. The tactile sensor of  claim 1 , wherein:
 the detection unit detects the force applied to the cover as electrical changes and transmits the detected electrical changes to a controller via a harness. 
 
     
     
       18. A tactile sensor comprising:
 a cover that is provided so as to cover at least part of a base portion; 
 a detection unit that is disposed between the cover and the base portion and detects force applied to the cover; and 
 a limiting structure that limits inclination of the cover with respect to the base portion, 
 wherein the cover has a side face covering portion that is disposed along a base portion side face of the base portion and an end face covering portion that extends from the side face covering portion and is disposed along a base portion end face of the base portion, 
 wherein the detection unit is disposed between the base portion side face and the side face covering portion and between the base portion end face and the end face covering portion, and 
 wherein the limiting structure comprises a stopper that limits movement of the cover in a direction toward the base portion. 
 
     
     
       19. A robot hand comprising:
 a tactile sensor; 
 an opposing member that is disposed opposing the tactile sensor and grips an object between itself and the tactile sensor, 
 wherein the tactile sensor comprises:
 a cover that is provided so as to cover at least part of a base portion; 
 a detection unit that is disposed between the cover and the base portion and detects force applied to the cover; and 
 
 a limiting structure that limits inclination of the cover with respect to the base portion.